diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index 39e2fb4a8..2affa1d70 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -316,6 +316,9 @@ static void gm_rx_hook(const CANPacket_t *msg) {
         uint32_t now_us = microsecond_timer_get();
         gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
         gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+        // Keep PRNDL2 locked to the same cadence as the paddle frame.
+        gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+        gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
         gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       }
@@ -325,6 +328,9 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       uint32_t now_us = microsecond_timer_get();
       gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
       gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+      // Keep paddle cadence aligned if PRNDL2 is the only stable timing source.
+      gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+      gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
       gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
     }
@@ -468,10 +474,8 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Feed-only stream: always block controller TX and let panda periodic TX own wire output.
+      tx = false;
     }
   }
 
@@ -493,10 +497,8 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Feed-only stream: always block controller TX and let panda periodic TX own wire output.
+      tx = false;
     }
   }
 
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 9fc570180..1ff4c5f0b 100644
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 70bfe2e57..383e9edac 100755
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index 7059f4fc9..2e29598f6 100755
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diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index 5ce712e44..58c89d2e1 100755
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 3525569af..91d39e822 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index e7929e1b0..bd25b64fd 100755
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diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 180c62734..cca4b4e72 100755
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diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 180c62734..cca4b4e72 100755
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diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index f785c32ae..897cd358a 100755
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diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index e7929e1b0..bd25b64fd 100755
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diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 074a85a86..bee085884 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-6a639c86-DEBUG";
+const uint8_t gitversion[19] = "DEV-d3b1cc8e-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 121905795..e502e6447 100644
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diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index 652b6b960..875ebd125 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 74d5a7bb1..1ca61eae1 100755
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diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 4758df03e..51c7e3d2a 100755
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diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 659eaa9c4..349ba5568 100644
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diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index a59f31b19..f6cce25a4 100755
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diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 723750da1..b5cea4438 100755
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diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 08730e278..eab480668 100755
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diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 936615ab7..f2fe4c803 100644
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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index 507822347..af7c0e128 100755
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index 82e1391b5..c12301f17 100755
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diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 6286fdede..43a426878 100644
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diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index e185e9d8c..fa1ebce42 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index 6b438ea54..5b4a4b0b5 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 2460d22c6..31a24cca7 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index c8c33bf9a..0a533c6ca 100644
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 25dbad77d..5b0fc0e29 100755
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diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 44535f302..d87c5f912 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 93371214b..4ecd0b7a9 100755
Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ
diff --git a/panda/board/obj/version b/panda/board/obj/version
index 76455bbe2..06f24e71b 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-6a639c86-DEBUG
\ No newline at end of file
+DEV-d3b1cc8e-DEBUG
\ No newline at end of file